Project Title:

A Method of Improving the Dynamic Performance of Telerobotic Systems.

05.03-2491
901934
A Method of Improving the Dynamic Performance of Telerobotic Systems.

Abstract:

The objective of this project is to develop an approach for commanding telerobots
to move with greatly increased dynamic performance. The performance increase will
be achieved by eliminating excitation of oscillations in the machine. Settling time
will, therefore, be significantly reduced. The feasibility of a new technique called
impulse shaping will be investigated. A rudimentary version of this new technique
has been demonstrated on simple research systems (both in software and hardware).
The objective of this work is to formulate this technique for more complex machines.
The results that have been obtained to date indicate that this technique, if pursued,
could significantly improve the task-performing capabilities of telerobots and other
machines. This extension of the impulse shaping technique would result in an innovation
because an entirely new technology would be available for machine control.
Some of the many examples of possible applications are:  the shuttle Remote Manipulator
System, equipment for payload experiments and satellites, the Space Station, the
Mars Rover, the Space Shuttle Digital Auto Pilot, computer disk drives, silicon wafer
steppers, wire bonding machines, construction cranes, optical systems (i.e., etching
machines), chemical processes, assembly equipment, NC machine tools, robotics, automobile
active suspensions, and many others.
telerobots, flexible systems, dynamic performance, damping, oscillations, vibrations,
residual vibration, remote manipulator system